Triaxial accelerometer assembly and in-situ calibration method for improved geodetic and seismic measurements

ABSTRACT

A device and method for improved geodetic and seismic measurements are disclosed. The device comprises a triaxial accelerometer assembly, mounted to a reference structure, having full scale ranges greater than +/−1 G on three orthogonal axes and a mechanism for rotating the triaxial accelerometer assembly on the reference structure. The triaxial acceleration assembly is calibrated with an internal alignment matrix such that measurements of Earth&#39;s gravity vector are rotationally invariant with respect to the direction of Earth&#39;s 1 G static gravity vector irrespective of the orientation of the triaxial assembly on the reference structure. In-situ calibrations are performed by rotating the axes of the triaxial acceleration assembly in the direction of Earth&#39;s static gravity vector. Drift of the triaxial accelerometer assembly is compensated for by measuring changes in the values of the invariant static gravity vector for each axis and correcting for the drift with new calibration coefficients.

REFERENCES CITED U.S. Patent Documents

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OTHER PUBLICATIONS

-   J. Paros et al. “Nano-Resolution Sensors for Disaster Warning    Systems”, IEEE Conference Publishing, Oceans' 12 MTS/IEEE, Yeosu,    Korea, May 2012.-   J. Paros et al. “Nano-resolution technology demonstrates promise for    improved local tsunami warnings on the MARS project”, IEEE    Conference Publishing, Oceans' 12 MTS/IEEE, Yeosu, Korea, May 2012.-   Lacoste et al. “Lacoste and Romberg Stabilized Shipboard Gravity    Meter”, February 1967, Geophysics, Col. 32, No. 1, pp. 99-109.-   J. Neumeyer et al. “Analysis of gravity field variations derived    from Superconducting Gravimeter recordings, the GRACE satellite and    hydrological models at selected European sites”, 2008, Earth Planets    Space, 60, 505-518.

TECHNICAL FIELD

The present invention provides a device and method for improved seismicand geodetic measurements. More particularly, the device includes atriaxial accelerometer assembly capable of measuring the components ofEarth's 1 G static gravity vector on three orthogonal axes and amechanism for rotating the triaxial accelerometer assembly to performin-situ calibrations. The present invention is used to make improvedsurface, subsurface and submarine measurements of seismic events,geodetic measurements of earth movements such as tilt, subsidence anduplift, as well as in energy exploration and production.

BACKGROUND OF THE INVENTION

A variety of instruments and methods have been used to measuregeophysical phenomena. Pressure sensors and seismic instruments are usedin disaster warning systems as described in the referenced documents“Nano-Resolution Sensors For Disaster Warning Systems” and“Nano-resolution technology demonstrates promise for improved localtsunami warnings on the MARS project”. Seismometers, gravimeters andtiltmeters are extensively used for geodetic measurements. Applicationsin energy exploration and production include instruments and methods forseismic refraction measurements, orientation modules for directionaldrilling, and characterizing hydrocarbon reservoirs through gravitymeasurements. Tilt measurements are useful for providing geodetic dataon subsidence and uplift, whether due to natural earth movements or dueto energy production. Hydrocarbon reservoirs may be characterized withsurface and borehole gravity measurements.

Prior art devices generally use the direction of gravity as a verticalreference or “plumb line”. Compass directions may be determined withdevices oriented to Earth's magnetic poles. Gravimeters and verticalseismometers can be aligned to the plumb line to measure gravity andtiltmeters can measure the angular deflections of the planeperpendicular to the plumb line. Various techniques in the prior art areused to ensure alignment and/or characterize misalignments to the plumbline. These techniques include leveling, dynamic compensation andcharacterization using associated sensors such as tiltmeters.

The referenced document, “Lacoste and Romberg Stabilized ShipboardGravity Meter”, and U.S. Pat. No. 3,474,672 describe a leveling platformthat maintains verticality between the gravity meter and the plumb lineusing gimbal mounting and servo loops. Leveling techniques are also usedto maintain verticality of relative gravity meters as described in U.S.Pat. Nos. 4,445,371, 4,457,077, and 4,457,168. U.S. Pat. No. 5,461,914describes an absolute gravity meter that also requires leveling.Gyroscopes are used to determine the gravity meter's spatial angle fromverticality as described in U.S. Pat. No. 5,112,126. Tiltmeters andaccelerometers are used in a servo leveling system to align toverticality as described in U.S. Pat. No. 5,970,787. U.S. Pat. No.8,616,054 describes a seismic and gravity sensor in which the weight ofan inertial mass is unloaded with a spring arrangement when exposed to,and aligned with, the force of the static gravity field.

U.S. Pat. No. 3,630,086 describes a dynamic compensation techniquewherein differential gravity forces are balanced by induced centrifugalforces. U.S. Pat. No. 5,341,681 describes a dynamic compensationtechnique using rotating accelerometers to determine the in-line andcross-gravity components in a gradiometer. Dynamically rotating atiltmeter and accelerometer assembly about the instrument axis can beused to determine the cross terms in an alignment matrix as described inU.S. Pat. No. 5,606,124. U.S. Pat. No. 5,728,935 describes a system oftwo force measuring assemblies and an independent measure of kinematicacceleration from a reference point such that differential measurementsof gravity may be calculated. U.S. Pat. No. 6,518,756 describes anapparatus for determining the motion of a borehole tool from rotationaldynamic measurements relative to the plumb line using accelerometers andmagnetic induction sensors. U.S. Pat. No. 6,590,536 describes a bodymotion detection system that corrects body-mounted accelerometers forthe effects of static gravity. Another dynamic compensation technique isdescribed in U.S. Pat. No. 6,615,660 wherein the perturbations caused bythe motion of a moving mass are used to compensate and correct theoutputs of a gradiometer. U.S. Pat. No. 8,789,415 describes a gravitygradient measuring instrument using two dynamically rotating sensormasses to reduce the effects of common-mode aircraft accelerations.

U.S. Pat. No. 6,776,035 describes a subsurface gravity measuring devicein which a gravity sensor and separate tiltmeters are calibratedinitially with characterization coefficients and later rotated relativeto the plumb line to derive recalibrated coefficients. Because thegravity sensor and tiltmeters have full scale ranges less than 1 G, therotation angles used for recalibration are small and a rotationallyinvariant 1 G vector cannot be used as a reference.

There are many single axis accelerometers in the prior art that can becombined into a triaxial acceleration assembly. Inherently digitalsensors that include vibratory structures whose resonant frequencies arefunctions of the applied accelerations are described in U.S. Pat. Nos.4,467,651 and 4,479,385. A triaxial accelerometer with variablesensitivity is described in U.S. Pat. No. 7,178,401. U.S. Pat. No.6,826,960 describes a triaxial acceleration sensor with an internalalignment matrix.

Traditional strong motion sensors do not have the sensitivity orstability to make good long-term geodetic measurements. Traditionalbroadband seismometers and tiltmeters operate over a small fraction ofEarth's 1 G gravity vector and do not have the range to measure strongseismic events and have no absolute reference for long-termmeasurements. Thus there is a need for a device and in-situ calibrationmethod for improved seismic and geodetic measurements.

SUMMARY OF THE INVENTION

The present invention provides a device and method for improved geodeticand seismic measurements. The device comprises a triaxial accelerometerassembly, mounted to a reference structure, having full scale rangesgreater than +/−1 G on three orthogonal axes and a mechanism forrotating the triaxial accelerometer assembly on the reference structure.The triaxial acceleration assembly is calibrated with an internalalignment matrix such that measurements of Earth's gravity vector arerotationally invariant with respect to the direction of Earth's 1 Gstatic gravity vector irrespective of the orientation of the triaxialassembly on the reference structure. In-situ calibrations are performedby rotating the axes of the triaxial acceleration assembly in thedirection of Earth's 1 G static gravity vector. Drift of the triaxialaccelerometer assembly is compensated for by measuring the changes inthe values of the invariant static gravity vector for each axis andcorrecting for the drift with new calibration coefficients.

Measurements of Earth's gravity vector have been made and analyzed asreported in the Referenced Document “Analysis of gravity fieldvariations derived from Superconducting Gravimeter recordings, the GRACEsatellite and hydrological models at selected European sites”. Long-termstability of the superconducting gravimeter measurements isapproximately 3 micro-gals (3 nano-gs) per year. The present inventiondoes not make gravity measurements at that level of precision. However,it measures Earth's 1 G gravity vector with a triaxial package ofhigh-resolution accelerometers and uses the invariance of the gravityvector as a reference to compensate for the drift of the triaxialaccelerometers.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A depicts a prior art triaxial accelerometer.

FIG. 1B depicts prior art processing electronics.

FIG. 2 is an isometric view of a triaxial accelerometer assembly capableof being rotated at continuous angles relative to a plumb line gravityvector.

FIG. 3 is an isometric view of a triaxial accelerometer assembly mountedin a faceted housing capable of being rotated at fixed angles betweenthe faceted faces and the direction of the plumb line gravity vector.

FIG. 4 is an isometric view of a triaxial accelerometer assembly capableof being rotated such that the accelerometer axes may be substantiallyaligned with the direction of the plumb line gravity vector.

FIG. 5 is a block diagram of the process of in-situ calibration.

DETAILED DESCRIPTION OF THE INVENTION

As described in U.S. Pat. No. 6,826,960, FIG. 1A depicts a prior arttriaxial accelerometer. An inertial mass 10 is suspended from a base 12in a statically determinate structure by force-sensitive resonators 14to measure accelerations applied to the inertial mass 10 in threeorthogonal directions X, Y and Z. FIG. 1B depicts a prior artelectronics 16 that processes outputs 18 to determine the nominallyorthogonal accelerations 19 (a′X, a′Y and a′Z). The inverse of theinternal alignment matrix 20, determined by calibration, ensures thatthe outputs represent the applied accelerations 22, (aX, aY and aZ),along the true Cartesian coordinates. The initial calibration consistsof rotating the triaxial accelerometer in Earth's gravity field todetermine the alignment matrix but no means are provided to correct forthe future drift of the triaxial accelerometer.

FIG. 2 is an isometric view of triaxial accelerometer assembly 30mounted in mechanism 32 that is coupled to the surface of a referencestructure 36. Rotator mechanism 32 is capable of rotation about axes 34on reference structure 36 relative to Earth's plumb line gravity vector38. In some embodiments, the rotator mechanism 32 may be implementedusing a gimbal, as illustrated in FIG. 2, however, other rotatormechanisms capable of rotation about axes 34 may be used. Accelerationsensors 40, having full-scale ranges greater than +/−1 G, are nominallyaligned on orthogonal axes X, Y and Z of triaxial accelerometer assembly30. An internal alignment matrix, determined by calibration, ensuresthat the outputs represent the applied accelerations along the trueCartesian coordinates of reference structure 36. The measured value ofEarth's gravity vector 38 is calculated as the square root of the sum ofthe squares of the measured values of acceleration from the aligned 3axes of the accelerometer assembly 30. These measurements are nowrotationally invariant with respect to the plumb line directionirrespective of the orientation of triaxial assembly 30 on referencestructure 36. Drift of acceleration sensors 40 is a major problem thatcan mask real signals such as tilting due to uplift or subsidence.Earth's plumb line gravity vector 38 can serve as an invariant referencevalue to which the measured values are compared. The drift of thetriaxial accelerometer assembly 30 may be calculated as the differencebetween the vector measurement and the value of invariant gravity vector38. However, the drift of the individual sensors 40 must be calculatedto determine tilts of reference structure 36. Mechanism 32 can rotatetriaxial accelerometer assembly 30 through known angles about axes 34such that differing proportions of gravity vector 38 are measured onorthogonal axes X, Y and Z. For example, if successive rotations were to“substantially line up” the X, Y and Z axes with Earth's plumb linegravity vector 38, then the drift of the individual axes can becalculated as the difference between the vector measurement and thevalue of invariant gravity vector 38. As used herein, “substantiallyline up” can be within +/−5 degrees since the component of gravityvector 38 on an individual axis would be the cosine (5 degrees)=0.996and the drift of an individual axis, calculated as the differencebetween the vector measurement and the value of invariant gravity vector38 could be apportioned to 99.6%. A new set of calibration coefficientscan be derived to compensate for the drift of acceleration sensors 40.

FIG. 3 is an isometric view of a triaxial accelerometer assembly 50mounted in a faceted housing 54. Housing 54 can be rotated about axes 56at fixed angles between the faceted faces and reference structure 60relative to the direction of the plumb line gravity vector 64. Forexample, housing 54 can be rotated such that one of the faceted faces 58can line up each one of the orthogonal axes 56 of triaxial accelerometerassembly 50 with the plumb line 64. As discussed previously, thistechnique allows the apportioning of the measured vector drift toindividual axes 56.

FIG. 4 is an isometric view of a triaxial accelerometer assembly 70capable of being rotated on reference structure 72 such that theaccelerometer axes may be substantially aligned with the direction ofthe plumb line gravity vector 74. Orientation 76 of triaxialaccelerometer assembly 70 substantially aligns the Z axis to plumb line74. A 90 degrees rotation about the Y axis now substantially aligns theX axis with the direction of the plumb line gravity vector 74 as shownin orientation 78. Similarly, as shown in orientation 80, the Y axis maybe substantially aligned with the direction of the plumb line gravityvector 74 by a −90 degrees rotation about the X axis from orientation76.

FIG. 5 is a block diagram of the process of in-situ calibration that canbe employed to distinguish between the measurements of real signals andinstrument drift. The drift may be calculated as the difference betweenthe vector measurement and the value of the invariant gravity vectorover time. An initial calibration 84 is performed and an alignmentmatrix 86 is computed (also refer to FIGS. 1A and 1B). Recalibrations 88are performed by rotating the triaxial acceleration assembly in Earth'sgravity field and computing the measured gravity vector for differentorientations. A computation 90 is made to apportion the drift to eachaxis and the drift data is fit to derive new calibration coefficients92. Thus the present invention and method are effective in compensatingfor instrument drift and can provide improved measurements of seismicand geodetic phenomena.

From the foregoing it will be appreciated that, although specificembodiments of the invention have been described herein for purposes ofillustration, various modifications may be made without deviating fromthe spirit and scope of the invention. Accordingly, the invention is notlimited except by the following claims.

What is claimed is:
 1. An apparatus, comprising: a reference structure;a triaxial accelerometer assembly that measures acceleration on threeorthogonal axes that includes a plurality of accelerometers, wherein theplurality of accelerometers each has a range greater than +/−1 G; and arotator mechanism coupled to a surface of the reference structure andthe triaxial accelerometer assembly, wherein the rotator mechanism isconfigured to rotate the triaxial accelerometer assembly about aplurality of axes relative to a plumb line gravity vector.
 2. Theapparatus of claim 1 further comprising a measurement device todetermine the angles of rotation applied to the triaxial accelerometerassembly.
 3. The apparatus of claim 1, wherein a housing containing thetriaxial accelerometer assembly provides faceted faces at fixedorientations between the three orthogonal axes and the surface of thereference structure.
 4. The apparatus of claim 3, wherein the facetedfaces include plane faces perpendicular to the three orthogonal axes. 5.The apparatus of claim 1, wherein the triaxial accelerometer assembly iscalibrated with an internal alignment matrix such that measurements ofEarth's gravity vector are rotationally invariant with respect to theplumb line direction of Earth's 1 G static gravity vector irrespectiveof the orientation of the triaxial accelerometer assembly on thereference structure.
 6. The apparatus of claim 5, wherein seismicsignals are measured on three orthogonal axes in excess of thecomponents of Earth's 1 G static gravity vector.
 7. The apparatus ofclaim 5, wherein tilt signals are measured on the two orthogonal axesperpendicular to Earth's 1 G static gravity vector.
 8. The apparatus ofclaim 1, wherein the plurality of accelerometers of the triaxialaccelerometer assembly are vibratory structures whose resonantfrequencies are a function of applied accelerations.
 9. The apparatus ofclaim 1, wherein the reference structure is referenced to Cartesiancoordinates.
 10. A method of in-situ calibration of a triaxialaccelerometer assembly, the method comprising: rotating a rotatormechanism coupled between a reference structure and the triaxialaccelerometer assembly to vary an orientation of three orthogonal axesof the triaxial accelerometer assembly relative to a plumb linedirection of Earth's 1 G static gravity vector, and measuringaccelerations using a plurality of accelerometers of the triaxialaccelerometer assembly, each of the accelerometers having a ran egreater than +/−1 G.
 11. The method of claim 10, wherein rotating therotator mechanism substantially lines up each orthogonal axis to theplumb line direction of Earth's 1 G static gravity vector.
 12. Themethod of claim 10, wherein the accelerations measured include a valueof the Earth's 1 G static gravity vector for each of the threeorthogonal axes.
 13. The method of claim 12, wherein a drift of thetriaxial accelerometer assembly is compensated for by fitting changes inthe values of the Earth's 1 G static gravity vector for each axis andcorrecting for the drift with new calibration coefficients.
 14. Themethod of claim 13, wherein the new calibration coefficients arecomputed using a least squares regression fit.
 15. The method of claim13, wherein correcting for drift comprises computing a power seriesexpansion function of time.
 16. The method of claim 13, whereincorrecting for drift comprises computing exponential plus linearfunctions of time.
 17. The method of claim 13, wherein real signals aredistinguished from the drift of the triaxial accelerometer assembly bycomparing the changes in the values of the Earth's 1 G static gravityvector over time.
 18. The method of claim 10, wherein the referencestructure is referenced to Cartesian coordinates.
 19. A method ofin-situ calibration of a triaxial accelerometer assembly, the methodcomprising: receiving measurements from a plurality of accelerometers ofthe triaxial accelerometer assembly, wherein the measurements include avalue of the Earth's 1 G static gravity vector for each of the axes;compensating for a drift of the triaxial accelerometer assembly byfitting changes in the values of the Earth's 1 G static gravity vectorfor each of the axes and correcting for the drift with new calibrationcoefficients; and comparing the changes in the values of the Earth's 1 Gstatic gravity vector to distinguish real signals from the drift of thetriaxial accelerometer assembly.
 20. The method of claim 19, wherein themeasurements are referenced to Cartesian coordinates.